paparazzi/doc/pprz_algebra/matrix.tex

\section{Matrix $3\times3$ / Rotation Matrix}
The indices of a matrix are zero-indexed, i.e. the first element in the matrix has the row and column number \textbf{Zero}.
\mynote{I choosed to start the indices with 1.}
\subsection{Definition}
The matrix is represented as an array with the length 9.
\begin{equation}
\mat M = \begin{pmatrix}
m_0 & m_1 & m_2 \\
m_3 & m_4 & m_5 \\
m_6 & m_7 & m_8
\end{pmatrix} = \begin{pmatrix}
m[0] & m[1] & m[2] \\
m[3] & m[4] & m[5] \\
m[6] & m[7] & m[8]
\end{pmatrix}
\end{equation}
It is available for the following simple types:\\
\begin{tabular}{c|c|c}
type		& struct Mat	& struct RMat	\\ \hline
int32\_t	& Int32Mat33	& Int32RMat		\\
float		& FloatMat33	& FloatRMat		\\
double		& DoubleMat33	& DoubleRMat
\end{tabular}



\subsection{= Assigning}
\subsubsection*{$\mat M = \mat 0$}
\begin{equation}
\mat M = \begin{pmatrix}
0 & 0 & 0 \\
0 & 0 & 0 \\
0 & 0 & 0
\end{pmatrix}
\end{equation}
\inHfile{FLOAT\_MAT33\_ZERO(m)}{pprz\_algebra\_float}
\inHfile{FLOAT\_RMAT\_ZERO(m)}{pprz\_algebra\_float}

\subsubsection*{$a_{ij}$ elements}
Accessing an element is able with
\inHfile{MAT33\_ELMT(m, row, col)}{pprz\_algebra}
\inHfile{RMAT\_ELMT(m, row, col)}{pprz\_algebra}

\subsubsection*{$\mat M = diag(d_{00}, d_{11}, d_{22})$}
\begin{equation}
\mat M = \begin{pmatrix}
d_{00} & 0 & 0 \\
0 & d_{11} & 0 \\
0 & 0 & d_{22}
\end{pmatrix}
\end{equation}
\inHfile{FLOAT\_MAT33\_DIAG(m, d00, d11, d22)}{pprz\_algebra\_float}

\subsubsection*{$\mat{A} = \mat{B}$}
\begin{equation}
\mat {mat1} = \mat {mat2}
\end{equation}
\inHfile{MAT33\_COPY(mat1, mat2)}{pprz\_algebra}
\inHfile{RMAT\_COPY(o, i)}{pprz\_algebra}


\subsubsection*{$\mat M_{b2a} = \inv{\mat M_{a2b}} = \transp{\mat M_{a2b}}$}
\begin{equation}
\mat M_{b2a} = \inv{\mat M_{a2b}} = \transp{\mat M_{a2b}}
\end{equation}
\inHfile{FLOAT\_RMAT\_INV(m\_b2a, m\_a2b)}{pprz\_algebra\_float}

\subsection{- Subtraction}
\subsubsection*{$\mat C = \mat A - \mat B$}
\begin{equation}
\mat C = \mat A - \mat B
\end{equation}
\inHfile{RMAT\_DIFF(c, a, b)}{pprz\_algebra}
For bigger matrices you have to spezify the number of rows (\texttt{i}) and the number of columns (\texttt{j}).
\inHfile{MAT\_SUB(i, j, C, A, B)}{pprz\_simple\_matrix}



\subsection{$\multiplication$ Multiplication}
\subsubsection*{$\mat M_{a2c} = \mat M_{b2c} \multiplication \mat M_{a2b}$ with a Matrix (composition)}
Makes a matrix-multiplication with additional Right-Shift about the decimal point.
\mynote{Not quite sure about that}
\begin{equation}
\mat M_{a2c} = \mat M_{b2c} \multiplication \mat M_{a2b}
\end{equation}
\inHfile{INT32\_RMAT\_COMP(m\_a2c, m\_a2b, m\_b2c)}{pprz\_algebra\_int}
\inHfile{FLOAT\_RMAT\_COMP(m\_a2c, m\_a2b, m\_b2c)}{pprz\_algebra\_float}
and with the inverse matrix
\begin{equation}
\mat M_{a2b} = \inv{\mat M_{b2c}} \multiplication \mat M_{a2c}
\end{equation}
\inHfile{INT32\_RMAT\_COMP\_INV(m\_a2b, m\_a2c, m\_b2c)}{pprz\_algebra\_int}
\inHfile{FLOAT\_RMAT\_COMP\_INV(m\_a2b, m\_a2c, m\_b2c)}{pprz\_algebra\_float}
Multiplication is also possible with bigger matrices
\begin{equation}
\mat C_{i \cross j} = \mat A_{i \cross k} \multiplication \transp{\mat B_{j \cross k}}
\end{equation}
\inHfile{MAT\_MUL\_T(i, k, j, C, A, B)}{pprz\_simple\_matrix}
or
\begin{equation}
\mat C_{i \cross j} = \mat A_{i \cross k} \multiplication \mat B_{k \cross j}
\end{equation}
\inHfile{MAT\_MUL(i, k, j, C, A, B)}{pprz\_simple\_matrix}


\subsection{Transformation from a Matrix}
\subsubsection*{to euler angles}
\input{transformations/matrix2euler}

\subsubsection*{to a quaternion}
\input{transformations/matrix2quaternion}



\subsection{Tranformation to a Matrix}
\subsubsection*{from an axis and an angle}
\input{transformations/axisangle2matrix}

\subsubsection*{from euler angles}
\input{transformations/euler2matrix}

\subsubsection*{from a quaternion}
\input{transformations/quaternion2matrix}



\subsection{Other}
\subsubsection*{Trace}
\begin{equation}
tr(\mat{R}_m) = a_{11} + a_{22} + a_{33}
\end{equation}
\inHfile{RMAT\_TRACE(rm)}{pprz\_algebra}

\subsubsection*{$\norm{\norm{\mat M}}_F$ Norm (Frobenius)}
Calculates the Frobenius Norm of a matrix
\begin{equation}
\norm{\norm{\mat M}}_F = \sqrt{\sum_{i=1}^3 \sum_{i=1}^3 m_{ij}^2 }
\end{equation}
\inHfile{FLOAT\_RMAT\_NORM(m)}{pprz\_algebra\_float}

\subsection*{$\inv{\mat A} $ Inversion}
The inversion of a 3-by-3 matrix is made using the adjugate matrix and the determinant:
\begin{equation}
\inv{\mat A} = \frac{adj(\mat A)}{det(\mat A} = \frac{1}{det{\mat A}} \begin{pmatrix}
a_{22}a_{33}-a_{23}a_{32}&a_{13}a_{32}-a_{12}a_{33}&a_{12}a_{23}-a_{13}a_{22}\\
a_{23}a_{31}-a_{21}a_{33}&a_{11}a_{33}-a_{13}a_{31}&a_{13}a_{21}-a_{11}a_{23}\\
a_{21}a_{31}-a_{22}a_{31}&a_{12}a_{31}-a_{11}a_{32}&a_{11}a_{22}-a_{12}a_{21}
\end{pmatrix}
\end{equation}
\inHfile{MAT\_INV33(invS, S)}{pprz\_simple\_matrix}